If you ever use the standard hobby size servos you might be interest in the open servo project
OpenServo high quality open source digital servo
It is an open source pcb upgrade and pc software that allows you to turn those cheap crappy ebay servos you have into a much smarter beast. There is also open encoder which rips out the pot and replaces it with a proper non contact mag sensor.
May your hexapod never twitch again. :)
